CN106774431A - One kind mapping unmanned plane route planning method and device - Google Patents
One kind mapping unmanned plane route planning method and device Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/12—Target-seeking control
Abstract
The invention discloses one kind mapping unmanned plane route planning method, including：S1, determine target survey and draw region；S2, determine unmanned plane initial position and course heading；S3, determine air strips spacing and flying height；The unmanned plane initial position data that S4, the target area information obtained according to S1 and S2 are obtained, generates all destination latitude and longitude coordinates that target mapping region can be completely covered；S5, determine level point with landing direction and generate make a return voyage destination latitude and longitude coordinates with landing destination latitude and longitude coordinates；S6, the flying height for being sequentially connected all destination latitude and longitude coordinates and combination S3 acquisitions, generate course line.And a kind of mapping unmanned plane flight course planning device, including input, sensing module, acquisition module, computing module, processing module of making a return voyage, airline generation module.
Description
Technical field
The present invention relates to unmanned plane surveying and mapping technology, more particularly to a kind of mapping unmanned plane route planning method and device.
Background technology
In traditional unmanned plane mapping operations, generally need to divide mapping target area in unmanned plane during flying early stage
Analysis, is required to plan the course line of unmanned plane according to mapping, and planning information uploaded into unmanned plane, is performed for unmanned plane
Mapping task.Generally, it is necessary to calculated in advance surveys and draws the way point information of unmanned plane, by manually examining on the spot more than prior art
Examine and calculated to complete, on the one hand, calculating is comparatively laborious to lose time and easily make a fault very much, causes unmanned plane to be surveyed and drawn
Work is affected, on the other hand, larger by the restriction ratio of target area, when target area is irregular shape, calculates work
It is difficult to carry out.
The content of the invention
The technical problems to be solved by the invention are：A kind of mapping unmanned plane route planning method and device are provided, can
High accuracy destination and course line are quickly generated, operating efficiency and the flexibility of unmanned plane is improved.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：
One kind mapping unmanned plane route planning method, including：
S1, input obtain the latitude and longitude coordinates information on each summit in target polygon region to be surveyed and drawn, and determine that target is surveyed and drawn
Region；
S2, sensor is used to gather unmanned plane current latitude and longitude coordinates information, attitude data, head data and coordinate points gas
Pressure height, determines unmanned plane initial position and course heading；
S3, the picture size, size sensor, the lens focus that obtain camera, set sidelapping rate and ground resolution,
Determine air strips spacing and flying height；
The unmanned plane initial position data that S4, the target area information obtained according to S1 and S2 are obtained, generates first boat
Point latitude and longitude coordinates；Second destination warp is generated according to first destination latitude and longitude coordinates, target area boundaries and course heading
Latitude coordinate；According to the air strips spacing that second destination latitude and longitude coordinates and S3 are obtained, the 3rd destination longitude and latitude of generation is sat
Mark, similarly calculates all destination latitude and longitude coordinates that target mapping region can be completely covered；
S5, determine level point with landing direction and generate make a return voyage destination latitude and longitude coordinates with landing destination latitude and longitude coordinates；
S6, the flying height for being sequentially connected all destination latitude and longitude coordinates and combination S3 acquisitions, generate course line.
To solve the above problems, the present invention also provides a kind of mapping unmanned plane flight course planning device, including：
Input, the coordinate information for obtaining target area to be surveyed and drawn；
Sensing module, the state parameter and flight environment of vehicle current for sensing unmanned plane；
Acquisition module, the acquisition parameters for collecting camera；
Computing module, the positional information for generating each destination；
Make a return voyage processing module, for the positional information for determining to make a return voyage a little with level point；
Airline generation module, for generating final course line.
The beneficial effects of the present invention are：The present invention can according to the target area to be surveyed and drawn of electronic map real-time selection,
And without the positional information of field survey target area, the time can be greatlyd save；Target area can be arbitrary polygon, can
Fully describe by mapping object；Each destination can be automatically calculated, accurate task way point information is quickly generated, shortened in course line rule
Draw the working time of early stage；Computing module can be believed according to the change real-time adjustment course line of target area and unmanned plane during flying parameter
Breath, improves the flexibility of unmanned plane flight course planning.
Brief description of the drawings
Fig. 1 is the mapping unmanned plane route planning method schematic flow sheet of the embodiment of the present invention one.
Specific embodiment
It is to describe technology contents of the invention, the objects and the effects in detail, below in conjunction with implementation method and coordinates attached
Figure is explained.
The design of most critical of the present invention is：Required according to different target areas and mapping, you can rapidly automatic raw
It is time-consuming into corresponding way point information, and reduce error.
Fig. 1 is refer to, one kind surveys and draws unmanned plane route planning method, including：
S1, input obtain the latitude and longitude coordinates information on each summit in target polygon region to be surveyed and drawn, and determine that target is surveyed and drawn
Region；
S2, sensor is used to gather unmanned plane current latitude and longitude coordinates information, attitude data, head data and coordinate points gas
Pressure height, determines unmanned plane initial position and course heading；
S3, the picture size, size sensor, the lens focus that obtain camera, set sidelapping rate and ground resolution,
Determine air strips spacing and flying height；
The unmanned plane initial position data that S4, the target area information obtained according to S1 and S2 are obtained, generates first boat
Point latitude and longitude coordinates；Second destination warp is generated according to first destination latitude and longitude coordinates, target area boundaries and course heading
Latitude coordinate；According to the air strips spacing that second destination latitude and longitude coordinates and S3 are obtained, the 3rd destination latitude and longitude coordinates are generated,
Similarly calculate all destination latitude and longitude coordinates that target mapping region can be completely covered；
S5, determine level point with landing direction and generate make a return voyage destination latitude and longitude coordinates with landing destination latitude and longitude coordinates；
S6, the flying height for being sequentially connected all destination latitude and longitude coordinates and combination S3 acquisitions, generate course line.
Knowable to foregoing description, the beneficial effects of the present invention are：It is different from and need in the prior art mapping region reality
Ground collects parameters and information and then is manually calculated destination again, and the present invention can select the area to be surveyed and drawn in map in real time
Domain, and the region of selection can be arbitrary polygon；Accurate need to can be only quickly generated by setting parameters
Business way point information, greatly shortened in the planning previous work time, improved unmanned plane mission planning flexibility.
Further, step S1 can stretch out one when target area information is obtained according to the border of former target area
Set a distance.
Seen from the above description, increase elongated area in the periphery of former target area, can fully map out target shooting
Region, it is ensured that shooting area integrality.
Further, step S5 also includes：Wind direction and wind speed are detected using sensor in unmanned plane landing phases, according to ring
Border wind direction and wind speed redefine level point and landing direction, and update landing course line.
Further, step S4 also includes setting the flying speed of unmanned plane, it is determined that a position of climbing.
Further, the picture size in step S3 includes picture width and picture length；Air strips spacing and flying height
It is to be determined according to following constraints：
Flying height=ground resolution * lens focus * pictures width/sensor width；
Air strips interval=(1- sidelappings rate) * ground resolution * picture length.
In addition, also providing a kind of mapping unmanned plane flight course planning device, it is characterised in that including：
Input, the coordinate information for obtaining target area to be surveyed and drawn；
Sensing module, the state parameter and flight environment of vehicle current for sensing unmanned plane；
Acquisition module, the acquisition parameters for collecting camera；
Computing module, the positional information for generating each destination；
Make a return voyage processing module, for the positional information for determining to make a return voyage a little with level point；
Airline generation module, for generating final course line.
Further, also including pretreatment module, the coordinate information for the target area to being input into is done at an extension
Reason.
Seen from the above description, suitably stretch out target area, can fully describe by mapping object, and ensure nothing
Target area can substantially complete be photographed during man-machine execution task.
Further, also including adjusting module, if sensing module measures current flight environment of vehicle with initial flight environment not
Meanwhile, adjusting module can do real-time adjustment according to situation of change to way point information.
Seen from the above description, the adjusting module can help unmanned plane to be flown according to the boat of actual wind direction real-time adjustment unmanned plane
Course, ensures the correct flight attitude of aircraft, so as to ensure the Duplication and later stage image quality of filmed image as far as possible.
Embodiment one
Fig. 1 is refer to, embodiments of the invention one are：One kind mapping unmanned plane route planning method, specifically includes following
Step：
S1, input obtain the latitude and longitude coordinates information on each summit in target polygon region to be surveyed and drawn, and determine that target is surveyed and drawn
Region.The target area can on map real-time selection, the region of selection can be arbitrary polygon, can fully describe by
Mapping object.Determine target mapping region before, it is necessary to the border according to former target area stretches out certain distance, extension
Distance can be according to actual conditions sets itself, it is ensured that mapping unmanned plane can be photographed comprehensively as far as possible during execution task
Target area information.
S2, sensor on unmanned plane is used to gather the current latitude and longitude coordinates information of unmanned plane, attitude data, head number
According to coordinate points pressure altitude, determine unmanned plane initial position and course heading, for destination planning use.
S3, the picture size, size sensor, the lens focus that obtain camera, set sidelapping rate and ground resolution,
Determine air strips spacing and flying height.Wherein, picture size includes picture width and picture length.
The flying height of unmanned plane is determined by the photo resolution and the acquisition parameters of camera that need during shooting.Resolution ratio=
Boat flies height * pixels width/lens focus, wherein pixel width=camera sensor dimension width/picture width.For example, certain
Camera model size sensor is：4.64*6.16, picture size is：3456*4608, lens focus are：5.4, then pixel width
=4.64/3456=0.001343, if it is the aerophotograph of 0.05m to shoot resolution ratio, corresponding flying height is about 0.05*
5.4/0.001343=201m.
For ease of shooting the later stage treatment of picture, unmanned plane general requiring when shooting equidistantly is taken pictures, so needs are carried
Front lay pulls take pictures spacing and the air strips spacing of unmanned plane.Wherein air strips spacing is by sidelapping rate, resolution ratio, picture length
Determine, air strips spacing=(1- sidelappings rate) * resolution ratio * picture length；Spacing of taking pictures be by endlap rate, resolution ratio and
The decision of picture width, interval of taking pictures=(1- endlaps rate) * resolution ratio * picture width.For example set the course of above-mentioned camera
Duplication is that 70%, sidelapping rate is 60%, then air strips spacing=(1-60/100) * 0.05*4608=92.16m, between taking pictures
Every=(1-70/100) * 0.05*3456=51.84.
S4, the flying speed that unmanned plane is set and the end height that climbs, and a position of climbing is set.
S5, the destination set that mapping region can be completely covered by computing device generation.According to the target area that S1 is obtained
The unmanned plane initial position data that information and S2 are obtained, generates first destination latitude and longitude coordinates；According to first destination longitude and latitude
Degree coordinate, target area boundaries and course heading generate second destination latitude and longitude coordinates；Sat according to second destination longitude and latitude
The air strips spacing that mark and S3 are obtained, generates the 3rd destination latitude and longitude coordinates, similarly calculates all targets that can be completely covered and surveys
Paint the destination latitude and longitude coordinates in region.In the present embodiment, changing to calculate link and with the addition of planned range in air strips transfinites judgements, counts
Calculating device can estimate the flight time of unmanned plane according to total voyage and flying speed of the destination planned, if during the flight
Between when being navigated beyond unmanned plane is maximum, then occur that planned range transfinites prompting.
S6, the situation according to initial environment, such as wind scale, wind direction, the level point and landing direction of initial setting unmanned plane,
And generate make a return voyage destination latitude and longitude coordinates and landing destination latitude and longitude coordinates.
S7, the direction that aircraft flight is determined according to wind direction, are sequentially connected all destination latitude and longitude coordinates and tie according to course
The flying height that S3 is obtained is closed, course line is generated.
In practical flight, computing device can for example exist according to the flight environment of vehicle data real-time update way point information of change
Unmanned plane landing phases detect wind direction and wind speed using sensor, and level point is redefined with landing according to environment wind direction and wind speed
Direction, and update landing course line；Also dependent on the adjustment unmanned plane boat flight of actual wind direction to guarantee unmanned plane is optimal as far as possible flies
Row attitude, so as to ensure the Duplication and later stage image quality of image.
Embodiment two
Embodiments of the invention are related to a kind of mapping unmanned plane flight course planning device, and the method with embodiment one is corresponding,
Including：
Input, the coordinate information for obtaining target area to be surveyed and drawn；
Pretreatment module, the coordinate information for the target area to being input into does an epitaxial process；
Sensing module, the state parameter and flight environment of vehicle current for sensing unmanned plane；
Acquisition module, the acquisition parameters for collecting camera；
Computing module, the positional information for generating each destination；
Make a return voyage processing module, for the positional information for determining to make a return voyage a little with level point；
Airline generation module, for generating final course line.
Adjusting module, if sensing module measure current flight environment of vehicle it is different from initial flight environment when, adjusting module meeting
Real-time adjustment is done to way point information according to situation of change.
In sum, the present invention is provided mapping unmanned plane route planning method and device according to different target areas and
Mapping is required, you can rapidly automatically generate corresponding way point information, time-consuming, and can be navigated according to environmental change real-time update
Point information, reduces imaging error, with preferable flexibility.
Embodiments of the invention are the foregoing is only, the scope of the claims of the invention is not thereby limited, it is every to utilize this hair
The equivalents that bright specification and accompanying drawing content are made, or the technical field of correlation is directly or indirectly used in, similarly include
In scope of patent protection of the invention.
Claims (8)
1. it is a kind of to survey and draw unmanned plane route planning method, it is characterised in that including：
S1, the latitude and longitude coordinates information for obtaining each summit in target polygon region to be surveyed and drawn, determine that target surveys and draws region；
S2, to gather unmanned plane current latitude and longitude coordinates information, attitude data, head data and coordinate points air pressure using sensor high
Degree, determines unmanned plane initial position and course heading；
S3, the picture size, size sensor, the lens focus that obtain camera, set sidelapping rate and ground resolution, it is determined that
Air strips spacing and flying height；
The unmanned plane initial position data that S4, the target area information obtained according to S1 and S2 are obtained, first destination warp of generation
Latitude coordinate；Second destination longitude and latitude is generated according to first destination latitude and longitude coordinates, target area boundaries and course heading
Coordinate；According to the air strips spacing that second destination latitude and longitude coordinates and S3 are obtained, the 3rd destination latitude and longitude coordinates are generated, similarly
Calculate all destination latitude and longitude coordinates that target mapping region can be completely covered；
S5, determine level point with landing direction and generate make a return voyage destination latitude and longitude coordinates with landing destination latitude and longitude coordinates；
S6, the flying height for being sequentially connected all destination latitude and longitude coordinates and combination S3 acquisitions, generate course line.
2. it is as claimed in claim 1 to survey and draw unmanned plane route planning method, it is characterised in that step S1 is obtaining target area
During information, can be stretched out certain distance according to the border of former target area.
3. it is as claimed in claim 1 to survey and draw unmanned plane route planning method, it is characterised in that step S5 also includes：At nobody
Machine landing phases detect wind direction and wind speed using sensor, and level point and landing side are redefined according to environment wind direction and wind speed
To, and update landing course line.
4. it is as claimed in claim 1 to survey and draw unmanned plane route planning method, it is characterised in that step S4 also includes setting nobody
The flying speed of machine a, it is determined that position of climbing.
5. it is as claimed in claim 1 to survey and draw unmanned plane route planning method, it is characterised in that the big parcel of picture in step S3
Include picture width and picture length；Air strips spacing and flying height are determined according to following constraints：
Flying height=ground resolution * lens focus * pictures width/sensor width；
Air strips interval=(1- sidelappings rate) * ground resolution * picture length.
6. it is a kind of to survey and draw unmanned plane flight course planning device, it is characterised in that including：
Input, the coordinate information for obtaining target area to be surveyed and drawn；
Sensing module, the state parameter and flight environment of vehicle current for sensing unmanned plane；
Acquisition module, the acquisition parameters for collecting camera；
Computing module, the positional information for generating each destination；
Make a return voyage processing module, for the positional information for determining to make a return voyage a little with level point；
Airline generation module, for generating final course line.
7. it is as claimed in claim 6 to survey and draw unmanned plane flight course planning device, it is characterised in that also including pretreatment module, use
Coordinate information in the target area to being input into does an epitaxial process.
8. it is as claimed in claim 6 to survey and draw unmanned plane flight course planning device, it is characterised in that also including adjusting module, if sense
Survey module measure current flight environment of vehicle it is different from initial flight environment when, adjusting module can be according to situation of change to way point information
Do real-time adjustment.
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